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<div class="title">TrackableSkeleton.java</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * To change this template, choose Tools | Templates</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * and open the template in the editor.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keyword">package </span>shahqaan.kinect;</div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">import</span> java.awt.Graphics2D;</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">import</span> java.util.HashMap;</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">import</span> com.sun.xml.internal.ws.api.message.HeaderList;</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">import</span> org.OpenNI.Point3D;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">import</span> org.OpenNI.SkeletonJoint;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">import</span> org.OpenNI.SkeletonJointPosition;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">import</span> javax.xml.bind.Unmarshaller;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">import</span> javax.xml.parsers.SAXParser;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">import</span> javax.xml.parsers.SAXParserFactory;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">import</span> org.xml.sax.Attributes;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">import</span> org.xml.sax.SAXException;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">import</span> org.xml.sax.helpers.DefaultHandler;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">import</span> java.util.ArrayList;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">import</span> javax.xml.parsers.DocumentBuilderFactory;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">import</span> javax.xml.parsers.DocumentBuilder;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">import</span> org.w3c.dom.Document;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">import</span> org.w3c.dom.NodeList;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">import</span> org.w3c.dom.Node;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">import</span> org.w3c.dom.Element;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">import</span> java.io.File;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">import</span> javax.xml.bind.JAXBContext;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">import</span> javax.xml.bind.JAXBException;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">import</span> javax.xml.bind.Marshaller;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">/**</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> * @author Shahqaan Qasim</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">   41</a></span>&#160;<span class="keyword">public</span> <span class="keyword">class </span><a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a> <span class="keyword">implements</span> <a class="code" href="interfaceshahqaan_1_1kinect_1_1_abstract_trackable.html">AbstractTrackable</a> {</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keyword">private</span> <span class="keyword">static</span> <span class="keywordtype">int</span> count = 0;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">private</span> <span class="keyword">final</span> <span class="keyword">static</span> String CONFIGURATION_DIRECTORY_PATH = <span class="stringliteral">&quot;D:\\Documents\\Projects\\FYP - Computer Generated Art\\Development\\kinect-body-language-analysis\\&quot;</span>;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">private</span> <span class="keyword">final</span> <span class="keyword">static</span> String PARTS_FILE = CONFIGURATION_DIRECTORY_PATH + <span class="stringliteral">&quot;Parts Configurations.xml&quot;</span>;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">private</span> <span class="keyword">final</span> <span class="keyword">static</span> String PARTS_VALUES_FILE = CONFIGURATION_DIRECTORY_PATH + <span class="stringliteral">&quot;Parts Values Configurations.xml&quot;</span>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">private</span> <span class="keyword">final</span> <span class="keyword">static</span> String EMOTIONS_FILE = CONFIGURATION_DIRECTORY_PATH + <span class="stringliteral">&quot;Emotions Configurations.xml&quot;</span>;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">private</span> <a class="code" href="classshahqaan_1_1kinect_1_1_parts.html">Parts</a> parts = null;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">private</span> <a class="code" href="classshahqaan_1_1kinect_1_1_parts.html">Parts</a> partsValues = null;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">private</span> <a class="code" href="classshahqaan_1_1kinect_1_1_emotions.html">Emotions</a> emotions = null;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">private</span> HashMap&lt;String, Float&gt; headValues = null;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">private</span> HashMap&lt;String, Float&gt; armsValues = null;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">private</span> HashMap&lt;String, Float&gt; kneesValues = null;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">private</span> HashMap&lt;String, Float&gt; shouldersValues = null;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">    /**</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">     * Variables for arm and hands</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> armAllowedAngle = 0.35; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> armSlightExtension = 150.0;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> armFullExtension = 200.0;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> armForwardThreshold = -250.0;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> armBackwardThreshold = 150.0;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> kneeBendThreshold = -70.0;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> headBendThreshold = -35.0;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> headBackThreshold = 50.0;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> chestBendThreshold = -30.0;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> chestBackThreshold = 40.0;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">public</span> <span class="keyword">static</span> <a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a> getTracker() {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a>.count &lt;= 0) {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            <a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a>.count++;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a>();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;            <span class="keywordflow">return</span> null;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    @Override</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">protected</span> <span class="keywordtype">void</span> finalize() {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a>.count--;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keyword">private</span> <a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a>() {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        this.buildPartsFromXml(<a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a>.PARTS_FILE);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        this.buildPartsValuesFromXml(<a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a>.PARTS_VALUES_FILE);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        this.buildEmotionsFromXml(<a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html">TrackableSkeleton</a>.EMOTIONS_FILE);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> buildPartsFromXml(String path) {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            File file = <span class="keyword">new</span> File(path);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            JAXBContext jaxbContext = JAXBContext.newInstance(<a class="code" href="classshahqaan_1_1kinect_1_1_parts.html">Parts</a>.class);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            Unmarshaller jaxbUnmarshaller = jaxbContext.createUnmarshaller();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            this.parts = (<a class="code" href="classshahqaan_1_1kinect_1_1_parts.html">Parts</a>) jaxbUnmarshaller.unmarshal(file);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        } <span class="keywordflow">catch</span> (JAXBException e) {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            e.printStackTrace();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> buildPartsValuesFromXml(String path) {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            File file = <span class="keyword">new</span> File(path);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            JAXBContext jaxbContext = JAXBContext.newInstance(<a class="code" href="classshahqaan_1_1kinect_1_1_parts.html">Parts</a>.class);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            Unmarshaller jaxbUnmarshaller = jaxbContext.createUnmarshaller();</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            this.partsValues = (<a class="code" href="classshahqaan_1_1kinect_1_1_parts.html">Parts</a>) jaxbUnmarshaller.unmarshal(file);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        } <span class="keywordflow">catch</span> (JAXBException e) {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            e.printStackTrace();</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> buildEmotionsFromXml(String path) {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            File file = <span class="keyword">new</span> File(path);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            JAXBContext jaxbContext = JAXBContext.newInstance(<a class="code" href="classshahqaan_1_1kinect_1_1_emotions.html">Emotions</a>.class);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            Unmarshaller jaxbUnmarshaller = jaxbContext.createUnmarshaller();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            this.emotions = (<a class="code" href="classshahqaan_1_1kinect_1_1_emotions.html">Emotions</a>) jaxbUnmarshaller.unmarshal(file);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        } <span class="keywordflow">catch</span> (JAXBException e) {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            e.printStackTrace();</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="comment">    /**</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">     * </span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">     * @param x</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">     * @param y</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">     * @param z</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">     * @param a</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment">     * @param b</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment">     * @param c</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment">     * @param p</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="comment">     * @param q</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">     * @param r</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="comment">     * @return</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="comment">     *      angle in radians</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">double</span> findAngle(</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z,</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            <span class="keywordtype">float</span> a, <span class="keywordtype">float</span> b, <span class="keywordtype">float</span> c,</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            <span class="keywordtype">float</span> p, <span class="keywordtype">float</span> q, <span class="keywordtype">float</span> r) {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordtype">float</span> i, j, k;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        i = ((y - b) * (r - z)) - ((z - c) * (q - y));</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        j = ((x - a) * (r - z)) - ((z - c) * (p - x));</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        k = ((x - a) * (q - y)) - ((y - b) * (p - x));</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        i = i * i;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        j = j * j;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        k = k * k;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordtype">double</span> numerator = Math.sqrt(i + j + k);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordtype">float</span> v1 = (x-a)*(x-a);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordtype">float</span> v2 = (y-b)*(y-b);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordtype">float</span> v3 = (z-c)*(z-c);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordtype">float</span> u1 = (p-x)*(p-x);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordtype">float</span> u2 = (q-y)*(q-y);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordtype">float</span> u3 = (r-z)*(r-z);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keywordtype">double</span> denom1 = Math.sqrt(v1 + v2 + v3);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordtype">double</span> denom2 = Math.sqrt(u1 + u2 + u3);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordtype">double</span> finalV = denom1 * denom2;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        finalV = numerator / finalV;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordtype">double</span> angle = Math.sinh(finalV);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordflow">return</span> angle;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">float</span> xFromTorso(<a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> skeletons, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel, <span class="keywordtype">float</span> x) {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        Point3D point = skeletons.getJointPos(skel, SkeletonJoint.TORSO);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">if</span> (point != null) {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <span class="keywordflow">return</span> (x - point.getX());</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">float</span> yFromTorso(<a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> skeletons, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel, <span class="keywordtype">float</span> y) {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        Point3D point = skeletons.getJointPos(skel, SkeletonJoint.TORSO);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keywordflow">if</span> (point != null) {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            <span class="keywordflow">return</span> (y - point.getX());</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">float</span> zFromTorso(<a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> skeletons, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel, <span class="keywordtype">float</span> z) {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        Point3D point = skeletons.getJointPos(skel, SkeletonJoint.TORSO);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordflow">if</span> (point != null) {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            <span class="keywordflow">return</span> (z - point.getZ());</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> testRightKnee(<a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> skeletons, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel) {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordtype">float</span> x = 0, y = 0, z = 0;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordtype">float</span> a = 0, b = 0, c = 0;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordtype">float</span> p = 0, q = 0, r = 0;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">float</span> u = 0, v = 0, w = 0;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;         </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            <span class="comment">/*</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="comment">            Point3D point = skeletons.getJointPos(skel, SkeletonJoint.RIGHT_HIP);</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="comment">            if (point == null) {</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="comment">            }</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="comment">            else {</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="comment">                a = point.getX();</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="comment">                b = point.getY();</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="comment">                c = point.getZ();</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="comment">            }</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="comment">            * */</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            Point3D point = skeletons.getJointPos(skel, SkeletonJoint.RIGHT_KNEE);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            <span class="keywordflow">if</span> (point == null) {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;            }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                x = point.getX();</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                y = point.getY();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;                z = point.getZ();</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;            }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            <span class="comment">// Angle will tell whether the arm is straight or not</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            <span class="comment">// double angle = this.findAngle(x, y, z, a, b, c, p, q, r);</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;       </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;            <span class="comment">// since it&#39;s a right hand, more positive value means</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            <span class="comment">// it is extending outwards</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            <span class="comment">// and more negative value means it is crossed inwards</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;            <span class="comment">// float xFromTorso = this.xFromTorso(skeletons, skel, p);</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;            </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            <span class="comment">// if negative then arm is forward</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            <span class="comment">// float zFromTorso = this.zFromTorso(skeletons, skel, r);</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;            </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            <span class="keywordtype">float</span> zFromTorso = this.zFromTorso(skeletons, skel, z);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;            <span class="keywordflow">if</span> (zFromTorso &lt; this.kneeBendThreshold) {</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;            }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;            </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        } <span class="keywordflow">catch</span> (Exception e) {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            e.printStackTrace();</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;            System.exit(1);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        }        </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> testRightArm(<a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> skeletons, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel) {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        <span class="keywordtype">float</span> x = 0, y = 0, z = 0;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="keywordtype">float</span> a = 0, b = 0, c = 0;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keywordtype">float</span> p = 0, q = 0, r = 0;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keywordtype">float</span> u = 0, v = 0, w = 0;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;         </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;            Point3D point = skeletons.getJointPos(skel, SkeletonJoint.RIGHT_SHOULDER);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;            <span class="keywordflow">if</span> (point == null) {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;            }</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                a = point.getX();</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                b = point.getY();</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                c = point.getZ();</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;            point = skeletons.getJointPos(skel, SkeletonJoint.RIGHT_ELBOW);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            <span class="keywordflow">if</span> (point == null) {</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                x = point.getX();</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                y = point.getY();</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                z = point.getZ();</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;            }</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;            point = skeletons.getJointPos(skel, SkeletonJoint.RIGHT_HAND);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;            <span class="keywordflow">if</span> (point == null) {</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;            }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                p = point.getX();</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                q = point.getY();</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                r = point.getZ();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;            }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;            </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;            <span class="comment">// Angle will tell whether the arm is straight or not</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;            <span class="comment">// double angle = this.findAngle(x, y, z, a, b, c, p, q, r);</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;           </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;            <span class="comment">// since it&#39;s a right hand, more positive value means</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;            <span class="comment">// it is extending outwards</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            <span class="comment">// and more negative value means it is crossed inwards</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;            <span class="keywordtype">float</span> xFromTorso = this.xFromTorso(skeletons, skel, p);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;            </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;            <span class="comment">// if negative then arm is forward</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;            <span class="keywordtype">float</span> zFromTorso = this.zFromTorso(skeletons, skel, r);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;            </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;            </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;            <span class="comment">// Check if arm is extended</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;            <span class="keywordflow">if</span> (xFromTorso &gt; this.armFullExtension) {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;            }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;                </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;                <span class="comment">// check if arm is crossed</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;                <span class="keywordflow">if</span> (xFromTorso &lt; 0.0) {</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                }</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;                <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;                    <span class="comment">// if not extended, check if they are forward</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                    <span class="keywordflow">if</span> (zFromTorso &lt; this.armForwardThreshold) {</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;                    }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;                    <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;                    }</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                }</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;            }</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        } <span class="keywordflow">catch</span> (Exception e) {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;            e.printStackTrace();</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;            System.exit(1);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        }        </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    }</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> testLeftArm(<a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> skeletons, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel) {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="keywordtype">float</span> x = 0, y = 0, z = 0;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        <span class="keywordtype">float</span> a = 0, b = 0, c = 0;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        <span class="keywordtype">float</span> p = 0, q = 0, r = 0;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <span class="keywordtype">float</span> u = 0, v = 0, w = 0;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;         </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;            Point3D point = skeletons.getJointPos(skel, SkeletonJoint.LEFT_SHOULDER);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;            <span class="keywordflow">if</span> (point == null) {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;            }</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;                a = point.getX();</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                b = point.getY();</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                c = point.getZ();</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;            }</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;            point = skeletons.getJointPos(skel, SkeletonJoint.LEFT_ELBOW);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;            <span class="keywordflow">if</span> (point == null) {</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;            }</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;                x = point.getX();</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;                y = point.getY();</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;                z = point.getZ();</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            }</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            point = skeletons.getJointPos(skel, SkeletonJoint.LEFT_HAND);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            <span class="keywordflow">if</span> (point == null) {</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;            }</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;                p = point.getX();</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;                q = point.getY();</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;                r = point.getZ();</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;            }</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;            </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;            <span class="keywordtype">double</span> angle = this.findAngle(x, y, z, a, b, c, p, q, r);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;            <span class="comment">// find the x, y and z distances between body and arm</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;            point = skeletons.getJointPos(skel, SkeletonJoint.TORSO);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;            <span class="keywordflow">if</span> (point != null) {</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;                u = point.getX();</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;                v = point.getY();</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;                w = point.getZ();</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;            }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;            <span class="comment">// x increases if i move right</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;            <span class="comment">// z increases if i move back backwards</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;            System.out.println(<span class="stringliteral">&quot;X = &quot;</span> + (p - u) + <span class="stringliteral">&quot; Y = &quot;</span> + (q - v) + <span class="stringliteral">&quot; Z = &quot;</span> + (r - w));</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        } <span class="keywordflow">catch</span> (Exception e) {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;            e.printStackTrace();</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;            System.exit(1);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        }        </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    }</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> testChest(<a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> skeletons, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel) {</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="keywordtype">float</span> x = 0, y = 0, z = 0;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        Point3D point = skeletons.getJointPos(skel, SkeletonJoint.NECK);</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        <span class="keywordflow">if</span> (point != null) {</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;            x = point.getX();</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;            y = point.getY();</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;            z = point.getZ();</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        }</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        <span class="keywordtype">float</span> zFromTorso = this.zFromTorso(skeletons, skel, 0);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        <span class="keywordflow">if</span> (zFromTorso &lt; this.chestBendThreshold) {</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;            <span class="keywordflow">if</span> (zFromTorso &gt; this.chestBackThreshold) {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;            }</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;            <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;            }</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;   </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> testHead(<a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> skeletons, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel) {</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        <span class="keywordtype">float</span> x = 0, y = 0, z = 0;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        Point3D point = skeletons.getJointPos(skel, SkeletonJoint.HEAD);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        <span class="keywordflow">if</span> (point != null) {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;            x = point.getX();</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;            y = point.getY();</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;            z = point.getZ();</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        }</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        <span class="keywordtype">float</span> headFromTorso = this.zFromTorso(skeletons, skel, z);</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        <span class="keywordtype">int</span> actualSpan = (this.partsValues.getHead().getForward().getSpan());</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <span class="keywordtype">int</span> mappedSpan = (this.parts.getHead().getForward().getSpan());</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keywordtype">float</span> mappedPosition = (headFromTorso / (float) actualSpan) * (float) mappedSpan;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        <span class="keywordflow">if</span> (this.headValues == null) { <span class="comment">// create an instance if it doesn&#39;t already exist</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;            this.headValues = <span class="keyword">new</span> HashMap&lt;&gt;();</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        }</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        this.headValues.put(<span class="stringliteral">&quot;forward&quot;</span>, mappedPosition);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    }</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> determineEmotions() {</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keywordflow">if</span> (this.headValues != null) {</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;            <a class="code" href="classshahqaan_1_1kinect_1_1_extended_skeletons.html">ExtendedSkeletons</a>.MESSAGE = <span class="stringliteral">&quot;HEAD: &quot;</span> + this.headValues.get(<span class="stringliteral">&quot;forward&quot;</span>);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        }</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    }</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    @Override</div>
<div class="line"><a name="l00443"></a><span class="lineno"><a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html#a93c19ac445b6c3523efd62f444dd68e8">  443</a></span>&#160;    <span class="keyword">public</span> <span class="keywordtype">void</span> <a class="code" href="classshahqaan_1_1kinect_1_1_trackable_skeleton.html#a93c19ac445b6c3523efd62f444dd68e8">track</a>(<a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> skeletons, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel) {</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        <span class="comment">// this.testRightArm(skeletons, skel);</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        <span class="comment">// this.testRightKnee(skeletons, skel);</span></div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        <span class="comment">// this.testChest(skeletons, skel);</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        this.testHead(skeletons, skel);</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        this.determineEmotions();</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    }</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;}</div>
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